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CONFERENCE PROGRAM

The 6th International Conference on

Control, Automation and Robotics

Co-Sponsored by

Patrons

1

ICCAR was previously held in Beijing, China in 2019,

Auckland, New Zealand in 2018, Nagoya, Japan in

2017, Hong Kong in 2016 and Singapore in 2015.

On the theoretical side, this conference features

papers focusing on intelligent systems engineering,

distributed intelligence systems, multi-level systems,

intelligent control, multi-robot systems, cooperation

and coordination of unmanned vehicle systems, etc.

On the application side, it emphasizes autonomous

systems, industrial robotic systems, multi-robot

systems, aerial vehicles, underwater robots and

sensor-based control.

For the first time ever, ICCAR affords the delegates

unparalleled opportunities to interact and network

with qualified professionals from throughout the

world.

TABLE OF CONTENTS

WELCOME PAGE 2

CONFERENCE AT A GLANCE 3

ORGANIZING COMMITTEE 4

PREPARATION FOR ONLINE

CONFERENCE

7

PRESENTATION GUIDELINE 8

TEST SESSIONS AT A GLANCE 9

PLENARY SESSIONS AT A GLANCE 10

OPENING REMARKS 11

KEYNOTE SPEECH ABSTRACTS 12

INVITED SPEECH ABSTRACTS 15

TUTORIAL ABSTRACT 18

PARALLEL SESSIONS AT A GLANCE 19

PARALLEL SESSION DETAILS 21

POSTERS 33

CO-SPONSORS AND PATRONS ON COVER

About ICCAR

Basic protective measures against

the COVID-19 from WHO

Wash your hands frequently

Maintain social distancing

Avoid touching eyes, nose and mouth

Practice respiratory hygiene

If you have fever, cough and difficulty

breathing, seek medical care early

Stay informed and follow advice given by

your healthcare provider

2

It gives us immense pleasure to invite you to attend The 6th International Conference on Control, Automation

and Robotics (ICCAR 2020). The conference focuses on the trending, highly popular, but exciting and extremely

challenging areas from our keynote speakers of leading scientists and a variety of authors around the world.

The outcome of our deliberations will play a crucial role in progress achieved in these areas. The conference

was scheduled in Singapore this year. Unfortunately, the entire world now is struggling against the virulent

pandemic COVID-19. Today we are witnessing the unbounded global spread of the disease and each of us is

affected. We hope all of you can stay healthy.

The conference brings together researchers looking for opportunities for conversations that cross the

traditional discipline boundaries and allows them to resolve multidisciplinary challenging problems. It is the

clear intent of the conference to offer excellent mentoring opportunities to participants. Although we cannot

meet each other physically, through this online platform, we trust that you still will be able to share the

state-of-the-art developments and the cutting-edge technologies in these broad areas.

We have an exciting four days planned. There will be over 100 oral presentations divided into 17 parallel

sessions, around 30 poster presentations, 3 keynote speakers, 3 invited speakers and 1 tutorial session.

Special thanks are extended to our colleagues in program committee for their thorough review of all the

submissions, which is vital to the success of the conference, and also to the members in the organizing

committee and the volunteers who had dedicated their time and efforts in planning, promoting, organizing and

helping the conference. Last but not least, our special thanks go to speakers as well as all the authors for

contributing their latest researches to the conference.

In closing, we thank you for participating in ICCAR 2020 and we hope you enjoy the next four days.

General Conference Chair

Dr. Ferial El-Hawary, Life Fellow IEEE

F.El-Hawary@ieee.org

TEL: (902) 449-5110

www.ferialdal.ca

Welcome

3

Conference at a Glance

SUNDAY

19 APRIL

MONDAY

20 APRIL

TUESDAY

21 APRIL

WEDNESDAY

22 APRIL

THURSDAY

23 APRIL

9:30AM-11:30AM

Test Session 1

Test Session 2

9:00AM–9:05AM

Opening Remarks 9:00AM–10:00AM

Tutorial

9:05AM–9:50AM

Keynote Speech I

10:00AM-10:30AM

Invited Speech I 10:00AM-10:30AM

Break 10:00AM-11:30AM

Session 15

Session 16

9:50AM–10:35AM

Keynote Speech II

10:30AM-11:00AM

Invited Speech II 10:30AM–12:00PM

Session 9

Session 10

10:35AM-10:50AM

Break

11:00AM-11:15AM

Break

10:50AM-11:35AM

Keynote Speech III

11:15AM-11:45AM

Invited Speech III

11:30AM-1:00PM

Break

11:35AM-1:30PM

Break

11:45AM-1:30PM

Break

12:00PM-1:30PM

Break

11:30AM-1:30PM

Break

1:00PM-3:00PM

Test Session 3

Test Session 4

1:30PM-3:00PM

Session 1

Session 2

1:30PM-3:00PM

Session 5

Session 6

1:30PM-3:00PM

Session 11

Session 12

1:30PM-3:00PM

Session 17

3:00PM-4:00PM

Break

3:00PM-4:00PM

Break

3:00PM-4:00PM

Break

3:00PM-4:00PM

Break

3:00PM-4:00PM

Break

4:00PM-6:00PM

Test Session 5

Test Session 6

KN&IS Test

4:00PM–5:30PM

Session 3

Session 4

4:00PM–5:30PM

Session 7

Session 8 4:00PM–5:30PM

Session 13

Session 14 4:00PM–5:20PM

Poster 1

Poster 2

4

Organizing Committee

Conference Chair Ferial El-Hawary, Dalhousie University, Canada / IEEE Life Fellow

Conference Co-Chair Shuzhi Sam Ge, National University of Singapore, Singapore / IEEE Fellow, IFAC Fellow, IET Fellow, IES Fellow

Program Chairs Antonio Moran, Pontifical Catholic University of Peru, Peru

Dan Zhang, Beijing Jiaotong University, China

Hui Li, Xidian University, China

Masashi Sugano, Osaka Prefecture University, Japan

Publicity Chairs Afef Fekih, University of Louisiana at Lafayette, USA

Ilya B. Gartseev, Moscow Technological University (MIREA), Russia

Nong Ye, Arizona State University, USA

Oleg Yakimenko, Naval Postgraduate School, USA

Technical Program Committee

Andrew Keong Ng, Singapore Institute of Technology, Singapore

Anthony Alfaro, Pontifical Catholic University of Peru, Peru

Antoni Burguera, Universitat de les Illes Balears, Spain

Arif Ozkan, Kocaeli University, Turkey

Bassel Soudan, University of Sharjah, UAE

Belen M. Tapado, Polytechnic University of the Philippines, Philippines

Bin Yao, Purdue University, USA

Bruno Barriga, Pontifical Catholic University of Peru, Peru

Carlos Delgado, Pontifical Catholic University of Peru, Peru

Chao Yue, Taishan Medical University, China

Chengliang Zhang, University of Jinan, China

Chenn-Jung Huang, National Dong Hwa University, Taiwan

Cheung-Chieh Ku, National Taiwan Ocean University, Taiwan

Chih-Hsing Liu, National Cheng Kung University, Taiwan

Chin-Wen Chuang, I-Shou University, Taiwan

Choosak Pornsing, Silpakorn University, Thailand

Chunshan Yang, Guilin University of Aerospace Technology, China

Dante Elias, Pontificia Universidad Católica del Perú, Peru

Eduardo Bejar, Pontifical Catholic University of Peru, Peru

Emese Gincsainé Szádeczky-Kardoss, Budapest University of Technology and Economics, Hungary

G. Panda FNAE,Indian Institute of Technology, Kharagpur, India

5

Gabriel Jimenez, Pontifical Catholic University of Peru, Peru

Haoting Liu, University of Science and Technology Beijing, China

Heow Pueh Lee, National University of Singapore, Singapore

Hua Ding, Taiyuan University of Technology, China

Huajin Tang, Sichuan University, China

Ibai Inziarte Hidalgo, Aldakin Automation S.L., Spain

Javier Sanjuan de Caro, Universidad del Norte, Colombia

Jeng-Dao Lee, National Formosa University, Taiwan

John Lozano, Pontifical Catholic University of Peru, Peru

Jonghun Yoon, Hanyang University ERICA, South Korea

Juan M. Chau, Pontifical Catholic University of Peru, Peru

Jun He, Shanghai Jiao Tong University, China

Karthikeyan Ramanujam, BITS, UAE

Lei Zhang, East China Normal University, China

Longhan Xie, South China University of Technology, China

Manuel Jr. Ramos, University of the Philippines Diliman, Philippines

Matt Khoshdarregi, University of Manitoba, Canada

Md. Hazrat Ali, Nazarbayev University, Kazakhstan

Mikael Ekström, Mälardalen University, Sweden

Mohamed Arezki Mellal, M'Hamed Bougara University, Algeria

Mohamed Hussien, UTM, Malaysia

Mustafa Doğan, Istanbul Technical University, Turkey

Nenad Popovich, Auckland University of Technology, New Zealand

Ning Sun, Nankai University, China

Pingguo Huang, Seijoh University, Japan

Przemyslaw Orlowski, West Pemmeranian University of Technology Szczecin, Poland

Qingfeng Zhou, Hefei University of Technology, China

Qingsong Xu, University of Macau

Qujiang Lei, Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences, China

Radu-Emil Precup, Universitatea Politehnica Timisoara, Romania

Rolf Wanka, University of Erlangen-Nuremberg Erlangen, Germany

Roman Neruda, Institute of Computer Science, Czech Academy of Sciences, Czech Republic

Ruwan Gopura, University of Moratuwa, Sri Lanka

Serdar Biroğul, Duzce University, Turkey

Sergei Semakov, Moscow Institute of Physics and Technology and Moscow Aviation Institute, Russia

Steve Vanlanduit, University of Antwerp, Belgium

Syuan-Yi Chen, National Taiwan Normal University, Taiwan

Takanori Miyoshi, Toyohashi University of Technology, Japan

Toyomi Fujita, Tohoku Institute of Technology, Japan

Tran Thi Hong, Thai Nguyen University of Technology, Viet Nam

Tzong-Hann Shieh, Feng Chia University, Taiwan

Ulrich Berger, Brandenburg University of Technology Cottbus, Germany

Utkal Mehta, University of the South Pacific, Fiji

Valentina Emilia Balas, Aurel Vlaicu University of Arad, Romania

6

Vanel Lazcano, Universidad Mayor, Chile

Venkatarangan Mj, PES University, India

Weijun Zhu, Zhengzhou University, China

Wen-Chung Chang, National Taipei University of Technology, Taiwan

Weng Kin Lai, Tunku Abdul Rahman University College, Malaysia

Xiaobing Mao, Wuhan University of Technology, China

Xiaocong Zhu, Zhejiang University, China

Xiaofang Wang, Beijing Institute of Technology, China

Xingyu Jiang, Shenyang University of Technology, China

Yan Song, Anhui Agricultural University, China

Yao Yan, University of Science and Technology of China, China

Ying Chen, Jiangnan University, China

Ying-Chih Lai, National Cheng Kung University, Taiwan

Ying Shi, Changchun Institute of Technology, China

Yoshifumi Morita, Nagoya Institute of Technology, Japan

Young-Seon Jeong, Chonnam National University, South Korea

Yuhong Zhang, Jilin Jianzhu University, China

Yunna Tian, Beijing Institute of Technology, China

Yupeng Yuan, Wuhan University of Technology, China

Yu-Sheng Lu, National taiwan normal university, Taiwan

Zareena Kausar, Air University, Pakistan

Zhaochen Zhang, Taishan Medical University, China

Zhengping Zhao, Fuyang Normal University, China

Zhi Qing Huang, Beijing University of Technology, China

Zhi-Ming Wang, University of Science and Technology Beijing, China

Zhumadil Baigunchekov, Satbayev University, Kazakhstan

7

Preparation for Online Conference Time Zone

Singapore Time (GMT+8)

You’re suggested to set up the time on your computer in advance.

Platform

ZOOM

Video Tutorials:

https://support.zoom.us/hc/en-us/articles/206618765-Zoom-Video-Tutorials

GIF Tutorial:

http://iccar.org/zoom.html

Chinese Tutorial:

http://iccar.org/files/Zoom-manual-CN.pdf

Test before Formal Meeting

Date: April 19, 2020

Prior to the formal meeting, presenters shall join the test room to ensure everything is on the right track. Please

check your test time at page 9.

Equipment Needed

A computer with internet connection and camera

Headphones

Environment Needed

A quiet place

Stable internet connection

Proper lighting and background

Q&A Room

If you have any problems about the online operating during the conference days, please enter the Q&A room

Meeting ID: 309-882-535

8

Presentation Guideline Voice Control Rules

The host will mute all participants while entering the meeting.

The host will unmute the speakers' microphone when it is turn for his or her presentation.

Q&A goes after each speaker, the participant can raise hand for questions, the host will unmute the

questioner.

After Q&A, the host will mute all participants and welcome next speaker.

Oral Presentation

Timing: a maximum of 15 minutes in total, including 3 minutes for Q&A. Please make sure your

presentation is well timed.

It is suggested that the presenter email a copy of his/her video presentation to the conference email box

as a backup in case any technical problem occurs.

Poster Presentation

All the posters will be shown for 5 minutes in the poster presentation room. Q&A goes after each poster

shown.

*Conference Recording

The whole conference will be recorded. We appreciate you proper behavior and appearance.

* The recording will be used for conference program and paper publication requirements. The video recording will be

destroyed after the conference and it cannot be distributed to or shared with anyone else, and it shall not be used for

commercial nor illegal purpose. It will only be recorded by the staff and presenters have no rights to record.

9

Test Sessions at a Glance Time Session Paper ID Meeting ID

Sunday

19 April

9:30-11:30

1

9:30-10:30 A012 A017 A022 A030

A031 A047 A071 A073-A A089

754-910-845

10:30-11:30 A133 A138 A140 A156 A165

A175 A2005 A2015 A2021

2

9:30-10:30 A0007 A0011 A0012 A038

A070 A074 A083 A084

110-795-216

10:30-11:30 A087 A096 A114 A124

A126 A176 A2010 A2017

13:00-15:00

3

13:00-14:00 A009, A015, A0015, A019

A023 A029 A041 A045 A049

754-910-845

14:00-15:00 A063, A072-A, A109, A116

A123, A166, A174, A182, A183

4

13:00-14:00 A011 A037 A040 A042

A074 A086 A097 A103 A112 A098

110-795-216

14:00-15:00 A115 A117 A119 A125 A129

A180 A185 A2013 A2014

16:00-18:00

5

16:00-17:00 A002 A032 A058 A065

A085 A090 A131 A137 A141

754-910-845

17:00-18:00 A151 A158 A163 A170

A181 A184 A168 A169

6

16:00-17:00 A006 A0008 A0009

A020 A024 A035 A057

110-795-216

17:00-18:00 A135 A142 A145

A147 A148 A157, A2022

7 16:00-17:00 Keynote Speech Test

640-0883-8555

8 17:00-18:00 Invited Speech Test

10

Plenary Sessions at a Glance Time Item Topic Meeting ID

Monday

20 April 9:00–9:05 Opening

Remarks

Ferial El-Hawary

Dalhousie University, Canada

640-0883-8555

9:05–9:50 Keynote I

Distributed Control of Multiagent Systems: Theory and

Applications

Hamid Reza Karimi

Politecnico di Milano, Italy

9:50–10:35 Keynote II

Localization and Control in GPS Denied Environment

Lihua Xie

Nanyang Technological University, Singapore

10:50-11:35 Keynote III

Development and Fusion of Artificial Intelligence and

Robotics

Shuzhi Sam GE

National University of Singapore, Singapore

Tuesday

21 April 10:00-10:30 Invited

Speech I

Design and Application of Force-Sensing Robotic Systems

for Micromanipulation

Qingsong Xu

University of Macau, China

640-0883-8555 10:30-11:00 Invited

Speech II

A Class Model-Based Control Techniques Used in

Electro-hydraulic System and Wearable Exoskeleton

Qing Guo

University of Electronic Science and Technology of

China, China

11:15-11:45 Invited

Speech III

Towards Condition Monitoring and Prognosis of Railway

Tracks

Andrew Keong Ng

Singapore Institute of Technology, Singapore

Wednesday

22 April 9:00-10:00 Tutorial

Deep Learning of Dynamic Neural and Fuzzy-Neural

Networks for Modeling and Intelligent Control of Nonlinear

Dynamic Systems

Antonio Moran

Pontifical Catholic University of Peru, Peru

640-0883-8555

11

Opening Remarks

Dr. Ferial El-Hawary (M'82-S'86-F'99) received the B.Eng. degree from University of Alexandria, and the M.

Sc. from the University of Alberta, Edmonton, Canada, in Electrical Engineering; and the Ph.D. in Oceans

Engineering from Memorial University of Newfoundland, Canada. Dr. El-Hawary is President of BH Engineering

Systems Ltd. She served on the Faculty of Engineering at Dalhousie University, where she established and

directed the Modeling & Signal Analysis Research Laboratory. Sustained research contribution devoted to

OCEANS Application with significant impact on defense, navigation and Oil & Gas exploration. She has

published widely in IEEE Journals. She is Editor-in-Chief of The Ocean Engineering Handbook and served as

Associate Editor of IEEE Oceanic Engineering Journal. With more than twenty-five years experience in teaching

Electrical and Signal Processing for Oceanic Engineering applications, she has made significant and sustainable

contributions in promoting and developing continuing education programs. She is the founder of the Modeling

and Signal Analysis Research Laboratory at the Faculty of Engineering at Dalhousie University, and founder of BH

Engineering Systems Ltd., specializing in technology transfer and professional development courses, linking

academic innovations to industrial needs Ferial has been invited by many of the IEEE International Conferences

and University Institutions as a Plenary Speaker. Recently, invited by the World Ocean Council (WOC/SOS’19),

Muscat, Oman, Feb. 2019, invited by HKUST Univ. Hong Kong, January 2018, talk on: “Overview of Robotics

Evolutions Emphasizing Underwater Applications” and Invited by the World Ocean Council (WOC/SOS’17),

Halifax, NS, Canada, December, 2017 Also, she was invited by Guangdong Univ. Guangzhou, China, April, 2017,

talk on: “Overview of Robotics Evolutions Emphasizing Underwater Applications”.

Ferial has been a devoted IEEE volunteer for over 30 years by serving IEEE and Oceanic Engineering Society

(OES) with many different capacities as: IEEE-Board of Directors, Board MGA (2008-2009), IEEE-Honorary

Membership Committee and IEEE Fellows Committee member. Served EEE/OES Administrative Committee

Member as OES Vice-President International Activities, and OES Membership Committee Chair. Ferial is

recognized for her leadership in establishing many of the OES Chapters Globally. Served many of IEEE OCEANS

Conferences as General Chair and Co-Chair, as well as IEEE Section Congress’08.

Ferial is the recipient for many awards recognizing her contributions with devoting services to IEEE and

some of its Technical Societies: She is the recipient of 2017 -“Murugan Memorial Award” for her contributions to

the Canadian Atlantic Section and IEEE, the IEEE-Systems Man & Cybernetics Society (SMC) Outstanding

Contribution Award, 2008, IEEE- Educational Activities Board (EAB) Meritorious Achievement Award in

Continuing Education, 2007, Marine Technology Society (MTS) Ocean Engineering Compass International Award,

2005, the J.J. Archambault IEEE/Eastern Canada Council Merit Award, 2002, IEEE Third Millennium Medal, 2000,

IEEE/RAB Achievement Award, 1999 IEEE/OES Distinguished Service Award, 1997, Fellow of MTS, 1985, Fellow of

the Engineering Institute of Canada (EIC),1997 and She is a Fellow of IEEE since 1999.

Conference Chair

Ferial El-Hawary

Dalhousie University, Canada

IEEE Life Fellow

12

Keynote Speech Abstracts

Hamid Reza Karimi is a professor of Applied

Mechanics with the Department of Mechanical

Engineering, Politecnico di Milano, Milan, Italy. His

current research interests include control systems

and

mechatronics with applications to automotive

control systems, vibration systems and wind energy.

Prof. Karimi is currently the Editor-in-Chief of the

Journal of Cyber-Physical Systems, Editor-in-Chief of

the Journal of Machines, Editor-in-Chief of the

International Journal of Aerospace System Science

and Engineering, Editor-in-Chief of the Journal of

Designs, Section Editor-in-Chief of the Journal of

Electronics, Section Editor-in-Chief of the Journal of

Science Progress, Subject Editor for Journal of The

Franklin Institute and a Technical Editor, Moderator

for IEEE TechRxiv or Associate Editor for some

international journals, such as the IEEE Transactions

on Industrial Informatics, the IEEE Transactions on

Fuzzy Systems, the IEEE Transactions on Neural

Networks and Learning Systems, the IEEE

Transactions on Circuits and Systems-I: Regular

Papers, the IEEE/ASME Transactions on

Mechatronics, the IEEE Transactions on Systems,

Man and Cybernetics: Systems, Information

Sciences, IFAC-Mechatronics, International Journal

of Robust and Nonlinear Control.

Keynote Speech I "Distributed Control of Multiagent Systems: Theory and Applications"

April 20, 2020 | 9:05AM-9:50AM

Meeting ID: 640-0883-8555

Hamid Reza Karimi

Politecnico di Milano, Italy

Google Scholar with h-index of 74

From both theoretical and practical aspects, the problem of

distributed cooperative control design for multiagent

systems has received increasing attentions in recent years

due to its advantages, compared with the traditional

centralized systems, including more flexibility,

decentralization, stronger robustness. Some practical

research impacts could be utilization of multiagent systems

in intelligent manufacturing (Industry 4.0), structural control

systems, emergency patient transportation, robotics, for

instance.

The objective of this talk is to present some challenges and

recent results on distributed cooperative control systems or

distributed model predictive control (DMPC) of multiagent

systems for consensus, e.g. robotics, with a focus on

advanced controller design strategy developments under

communication control protocol. Specifically, development

of the output-feedback consensus control is proposed for

heterogeneous linear multi-agent systems in presence of

disturbance and nonuniform sampling process, moreover,

joint design of self-triggered mechanism and DMPC is

addressed for unconstrained linear multi-agent systems. The

talk will be concluded with some concluding remarks on

both technical and practical aspects of distributed control

systems for consensus problems of multiagent systems.

13

Lihua Xie received the B.E. and M.E. degrees in electrical

engineering from Nanjing University of Science and

Technology in 1983 and 1986, respectively, and the

Ph.D. degree in electrical engineering from the

University of Newcastle, Australia, in 1992. He was a

faculty with the Department of Automatic Control,

Nanjing University of Science and Technology from 1986

to 1989. Since 1992, he has been with the School of

Electrical and Electronic Engineering, Nanyang

Technological University, Singapore, where he is

currently a professor and the Director of the Delta-NTU

Corporate Laboratory for Cyber-Physical Systems. He

served as the Head of Division of Control and

Instrumentation from July 2011 to June 2014. His

research areas include robust control, networked

control, compressive sensing, localization and

unmanned systems. He has been listed as a highly cited

researcher by Thomson Routers and Clarivate Analytics

annually since 2014. He is currently an Editor-in-Chief of

Unmanned Systems and Associate Editor of IEEE

Transactions on Control of Network Systems. He has

served as an Editor of IET Book Series on Control and

Associate Editor of IEEE Transactions on Automatic

Control, IEEE Transactions on Control Systems

Technology, Automatica, IEEE Transactions on Circuits

and Systems-II, etc. He was an IEEE Distinguished

Lecturer (2011-2014) and an elected member of the

Board of Governors of IEEE Control System Society (Jan.

2016- Dec. 2018). He is Fellow of IEEE, Fellow of IFAC,

and Fellow of Chinese Automation Association.

Keynote Speech II " Localization and Control in GPS Denied Environment "

April 20, 2020 | 9:50AM-10:35AM

Meeting ID: 640-0883-8555

Lihua Xie

Nanyang Technological University, Singapore

IEEE Fellow, Fellow of IFAC, and Fellow of Chinese Automation Association

The capability of localization is of great importance for

many applications such as Internet of Things and operation

of unmanned systems. GPS has been widely used for

positioning and navigation. However, in indoor

environments and many outdoor environments such as

urban canon and forest, GPS may not be available or

unreliable. Hence, it has been a lot of interest in developing

technologies and algorithms for localization in such

environments. In this talk, we shall discuss some recent

research on this topic. We shall discuss localization

leveraging on various technologies including WiFi, UWB

and vision. In particular, we shall introduce recently

developed distance based cooperative localization

including consensus based approach and graph

optimization based approach, leveraging on UWB

technologies. We shall also discuss simultaneous relative

localization and formation control of multi-robot systems,

and demonstrate their applications in unmanned ground

and aerial vehicles.

14

I received the B.Sc. degree from Department of Automatic

Control, Beijing University of Aeronautics and Astronautics

(BUAA), Beijing, China, in July 1986, and the Ph.D. degree

and the Diploma of Imperial College (DIC) from Mechanical

Engineering and Eletrical Engineering Departments, Imperial

College of Science, Technology and Medicine, University of

London, London, United Kingdom, in January 1993. From

May 1992 to June 1993, I was engaged in postdoctoral

research at Leicester University, UK, working on Robust Full

Flight Envelope Control of Aero-Engines in collaboration

with Lucas Aerospace Ltd and University of Southampton

and The University of Strathclyde, United Kingdom. I have

been with the Department of Electrical & Computer

Engineering, The National University of Singapore, Singapore

as a Lecturer from July 1993 to June 1998, a Senior Lecturer

from July 1998 to June 2000, an Associate Professor from

July 2000 to December 2004, and a Full Professor from

January 2005- Present. A Senior Faculty Fellow, NUS

Graduate School for Integrative Science and Engineering

(NGS), the National University of Singapore, 2003-Present. I

had the privileged of visiting a number of distinguished

research groups and universities including Laboratoire

de'Automatique de Grenoble (LAG), Grenoble, France;

Department of Electrical & Electronics Engineering, The

University of Melbourne, Melbourne, Australia ; Shanghai

Jiaotong University, Shanghai, China, Concordia University,

Canada, University of Western Australia, City University of

Hong Kong, Yale University, USA, Harbin Institute of

Technology, and many other invitations yet to fulfill.

Keynote Speech III "Development and Fusion of Artificial Intelligence and Robotics "

April 20, 2020 | 10:50AM-11:35AM

Meeting ID: 640-0883-8555

Shuzhi Sam Ge

National University of Singapore, Singapore

IEEE Fellow, IFAC Fellow, IET Fellow, IES Fellow

Artificial Intelligence (AI) and Robotics are the words of

today in research, industry, and funding agencies as they

are revolutionizing our works and daily lives. In this

lecture, we first give the development of AI. A brief

introduction of industrial robots releasing us from the

hard labour, works of mobile robots with much larger

operating space in comparison with industrial robots, and

the era of social robots becoming parts of the daily lives in

education, healthcare, finance, and entertainment are then

introduced. Recent intelligent robotics development is

shifting from industrial robots to social robots. The social

robots are intelligent, cooperative, and socially interactive,

and they are not robots that are sociable only, but

intelligent robotic beings who are parts of the society with

social responsibility. AI brings social robot vision to its

greatest extent, which enables social robots to present

themselves with emotional voice and posture. It has

become increasingly apparent that social interaction and

communication with themselves, humans, and

surroundings are necessary requirements in many

applications. With the continuous development of human

society, people are more and more longing for the vision

that robots can collaborate and co-work with human

beings in the foreseeable future for productivity, service,

and operations. After an introduction of the development

of AI and robots, I shall emphasize on the fusion of AI and

Robotics, as well as recent works of our team and vision of

the future in this field.

15

Invited Speech Abstracts

Qingsong Xu is a Full Professor with the Department

of Electromechanical Engineering, Faculty of Science

and Technology, University of Macau, and Director of

Smart and Micro/Nano Systems Laboratory. He was a

Visiting Scholar at the University of California, Los

Angeles (UCLA), USA, the RMIT University, Melbourne,

Australia, the National University of Singapore,

Singapore, and the Swiss Federal Institute of

Technology (ETH Zurich), Switzerland. His current

research area involves mechatronics, robotics and

mechanisms, control and automation, smart and

micro/nano systems, micro/nano-manipulation robots

and applications, etc. Prof. Xu is a Senior Member of

IEEE. He has published 3 monographs in Springer and

Wiley and over 280 technical papers in international

journals and conferences. His publications have been

cited by over 6600 times in Google Scholar with

h-index of 46. He currently serves as a Technical Editor

of IEEE/ASME Transactions on Mechatronics, Associate

Editor of IEEE Transactions on Automation Science and

Engineering, and Associate Editor of IEEE Robotics and

Automation Letters.

Invited Speech I "Design and Application of Force-Sensing Robotic Systems for Micromanipulation"

April 21, 2020 | 10:00AM-10:30AM

Meeting ID: 640-0883-8555

Qingsong Xu

University of Macau, China

Robotic micromanipulation systems are demanding devices

to realize automated manipulation of tiny samples. Majority

of existing robotic micromanipulation systems work based

on displacement sensing and control. The lack of force

sensing prevents the wide application of the devices. In

modern biomedical sciences, there is an increasing demand

for automated micromanipulation systems with force

sensing and control capabilities. The development of

force-sensing microinjector and microgripper devices

enable extensive robotic applications involving biological

field with guaranteed safety and accuracy. This presentation

reports our recent work on design and development of new

force-sensing robotic micromanipulation systems for

biological micromanipulation applications. The challenging

problems will be addressed and future work will be

discussed.

16

Qing Guo is a full professor in School of

Aeronautics and Astronautics,

University of Electronic Science and

Technology of China. Dr. Guo is also the

Academic and Technical Leaders

Reserve Candidates of Sichuan

Province, China, the IEEE Senior

member, the Youth Expert Group

Leader of Fluid Control Engineering

Branch, the member of Fluid

Transmission and Control Branch,

Hydraulic Branch, Chinese Mechanical

Engineering Society. From December

2013 to December 2014, he was an

academic visitor with Center for Power

Transmission and Motion Control,

Department of Mechanical

Engineering, University of Bath, UK. His

research interests include Fluid

Transmission and Control, Exoskeleton

Robot, and Aircraft Guidance and

Control. He has published more than

50 papers as the first and

corresponding authors.

Invited Speech II "A Class Model-Based Control Techniques Used in Electro-hydraulic System and Wearable Exoskeleton" April 21, 2020 | 10:30AM-11:00AM

Meeting ID: 640-0883-8555

Qing Guo

University of Electronic Science and Technology of China, Chengdu, China

Electro-hydraulic systems (EHSs) are currently widely used in mechatronic

control engineering as they have a superior load efficiency compared with

motor drive systems. However, there exist model uncertainties in EHS

involving hydraulic parametric uncertainty and unknown external load,

which will degrade the motion performance and stability of the closed

loop control system. The hydraulic parametric uncertainty is mostly caused

by unknown viscous damping, load stiffness, variable fluid volumes,

physical characteristics of valve, bulk modulus and oil temperature

variations, while the external load is often reflected as a dynamic driven

force of mechanical system. In this speech, a class model-based control

techniques such as linear robust controller, parametric adaptive controller,

nonlinear backstepping controller are tried to be used in electro-hydraulic

system. In addition, to handle hydraulic parametric uncertainty and

unknown external load, parametric estimation and extended state

observer, high-gain state observer, etc. are adopted in the control design

of electro-hydraulic system. To address the input constraint problem, a

model recovery antiwindup compensator embedded in an unconstrained

controller is designed to suppress the control saturation of a servo valve To

address the output constraint problem, a prescribed performance

constraint control and a full-state error constraints control with Barrier

Lyapunov function are adopted in EHS to restrict the tracking position error

of the cylinder position to a prescribed accuracy and guarantee the

dynamic and steady position response in a required boundary under these

uncertain nonlinearities. Then the Lower Limb exoskeleton is introduced,

which has two key problems: the model identification and the robust

control, since the control performance and system stability of

human-robot coordinated movement are often declined by some model

parametric uncertainties. A neighborhood field optimization is proposed to

identify the unknown model parameters of an exoskeleton for the design

of a model-based controller. A robust control scheme is constructed to

improve the dynamic tracking performance of human-robot training mode

in the presence of the identification error. Finally, the model identification

results and comparative tracking performance of the proposed scheme are

verified by an experimental platform of Two-DOF lower limb exoskeleton

with human-robot cooperative motion.

17

Dr. Andrew Ng is an Associate Professor with

Singapore Institute of Technology. He is the Deputy

Programme Director of the BEng (Honours) and

MEngTech in Sustainable Infrastructure Engineering

(Land), which focuses on railway engineering and

total preventive maintenance. He is a Chartered

Engineer with the UK Engineering Council and serves

on the committees of various local and international

professional engineering institutions, such as

Institute of Electrical and Electronics Engineers

(IEEE), Institution of Engineers Singapore (IES),

Institution of Engineering and Technology (IET), and

Institution of Railway Signal Engineers (IRSE). He is a

Senior Member of IEEE and IES, as well as a

Consultant and Advisor to startups and

multinational corporations. In addition, Dr. Ng is a

Principal Investigator of several grants amounting to

more than half a million Singapore dollars. He holds

one international patent and has more than 20

publications as both first and corresponding author.

His research and development innovations have also

garnered him several prestigious awards, such as

Amity Researcher Award, Young Investigator Award,

and National Instruments Editor’s Choice

Engineering Impact Award. Furthermore, Dr. Ng has

been frequently quoted and interviewed by news

media on railway transportation issues and current

affairs.

Invited Speech III " Towards Condition Monitoring and Prognosis of Railway Tracks "

April 21, 2020 | 11:15AM-11:45AM

Meeting ID: 640-0883-8555

Andrew Keong Ng

Singapore Institute of Technology, Singapore

Railway transportation is a common mode of moving people,

animals, and goods from one place to another. Condition

monitoring and prognosis are essential to improve railway

reliability, availability, maintainability, and safety. They also

provide good basis for effective asset maintenance and

management, thereby reducing downtime and maintenance

costs. This keynote presentation will elaborate the concept

and importance of condition monitoring and prognosis,

particularly of railway track including track geometry and rail

defects, which play a critical role in railway safety. Different

railway track condition monitoring and prognostic methods

and technologies that are available in academia and industry

will also be discussed. Lastly, future developments in this area

will be highlighted.

18

Tutorial Abstract

Dr. Antonio Moran obtained the Doctor and

Master degrees in Mechanical Systems

Engineering from Tokyo University of Agriculture

and Technology, Japan, where he has been

associate professor and scientific researcher in

the Laboratory of Robotics and Control Systems.

He has been president of the IEEE Robotics and

Automation Society RAS, Peru Chapter, and

obtained the 2014 Best Society Award in the

International Conference in Robotics and

Automation ICRA held in Hong Kong, China. Dr.

Moran is a visiting professor at Tokyo University

of Agriculture and Technology, Japan,

Technological University of Ilmenau, Germany,

and Stockholm University, Sweden. He is a

professor at the Graduate School of Pontifical

Catholic University of Peru, and technical

manager of Technova SAC, company providing

engineering solutions to industry. His research

interests include computational intelligence,

integration of neural networks, fuzzy logic and

genetic algorithms, learning systems, mobile

robots, nonlinear systems modeling and control,

and their industry applications.

"Deep Learning of Dynamic Neural and Fuzzy-Neural Networks for Modeling and Intelligent Control of Nonlinear Dynamic Systems"

April 22, 2020 | 9:00AM-10:00AM

Meeting ID: 640-0883-8555

Antonio Moran

Pontifical Catholic University of Peru, Peru

Dynamic neural networks are a special type of networks

having feedback connections which allow them to exhibit a

dynamic behavior for processing sequential and time-varying

patterns. They have been applied to solve diverse real-world

problems involving temporal and dynamic characteristics. The

tutorial presents the designing and training of dynamic neural

networks: Back Propagation Through Time BPTT and Dynamic

Back Propagation DBP algorithms are derived and used to

train dynamic neural networks in supervised or reinforcement

learning schemes. Dynamic neural networks are used for the

modeling and control of dynamic systems. Static and dynamic

feedback controllers are trained considering the internal

dynamics of the system, as well as fuzzy-neural networks are

designed considering human knowledge and experience. The

concept of incremental learning is applied for assuring the

successful training of neural networks from simple to complex

tasks. Neural networks are applied for the autonomous

control of car-like and trailer-type mobile robots.

19

Parallel Sessions at a Glance Time Session Topic Paper ID Meeting ID

Monday

20 April

13:30-15:00

1 Robot Motion and Path Planning A009 A015 A049

A116 A174 A182 754-910-845

2 Advanced Electronic Technology and

Application

A2005 A175 A2015

A133 A156 A030 110-795-216

16:00-17:30

3 Power Machinery and Vehicle

Engineering

A072-A A183 A045

A063 A109 A0015 754-910-845

4 Control Theory and Control

Engineering

A019 A166 A176

A038 A029 A123 110-795-216

Tuesday

21 April 13:30-15:00

5 Design of Intelligent Control System A011 A112 A040

A098 A180 A185 754-910-845

6 Biomedical Electronics and Systems

A083 A114 A0012

A0007 A0011 A096 110-795-216

16:00-17:30

7 Intelligent Robot and Engineering

Application

A037 A086 A115

A117 A125 A2013 754-910-845

8 Mechanical Design Manufacturing and

Automation

A035 A020 A142

A0009 A024 A0008 110-795-216

Wednesday

22 April 10:00-11:30

9 Intelligent Robot and Engineering

Application

A073-A A042 A031

A071 A138 A140 754-910-845

10 Aerospace and Launch Engineering A165 A012 A047

A089 A2021 A017 110-795-216

13:30-15:00

11 Applied Mechanics and Industrial

Automation

A057 A135 A157

A145 A147 A148 754-910-845

12 Signal Acquisition and Analysis A097 A103 A022

A119 A129 A2014 110-795-216

20

16:00-17:30

13 Communication and Information

System

A181 A002 A137

A184 A170 A065 754-910-845

14 Computer and Information Science A032 A085 A141

A158 A163 A169 110-795-216

Thursday

23 April 10:00-11:30

15 Machine Vision and Applications A070 A087 A2017

A084 A2022 754-910-845

16 Robot Design and Control A023 A124 A126

A2010 A074 A041 110-795-216

13:30-15:00 17 Machine Vision and Applications A131 A058 A090

A151 A168 754-910-845

16:00-17:20

P-1 Mechanical and Control Engineering 110-795-216

P-2 Modern Electronic Technology and Control Automation 754-910-845